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38 条记录 (耗时 0.026 秒)

    CONTROL DEVICE OF LEGGED MOBILE ROBOT
    11.
    发明公开
    CONTROL DEVICE OF LEGGED MOBILE ROBOT 有权
    STEUERVORRICHTUNGFÜRMOBILEN ROBOTER MIT BEINEN

    公开(公告)号：EP1502711A1

    公开(公告)日：2005-02-02

    申请号：EP03725697.1

    申请日：2003-04-28

    申请人： Honda Giken Kogyo Kabushiki Kaisha

    发明人： Takenaka, Toru ,  Matsumoto, Takashi ,  Yoshiike, Takahide ,  Akimoto, Kazushi

    IPC分类号： B25J5/00

    CPC分类号： B62D57/032

    摘要： A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.

    摘要翻译： 腿式移动机器人的控制装置，其中状态量误差（例如，主体3的垂直位置的误差）是与实际状态量和与之相关的期望步态的状态量之间的差 确定有腿可移动机器人1的预定方向（例如，垂直方向的平移运动）的平移运动，然后确定期望步态的期望运动，使得状态量误差接近零。 使用动态模型通过将基于状态量误差确定的虚拟外力输入到用于产生期望的步态的动态模型来确定期望的运动。 同时，基于零的状态量误差来校正机器人1的期望的地板反作用力，并且执行顺从性控制以使机器人1的运动和地板反作用力遵循所需的运动 以及期望的步态的期望的地板反作用力。

    Legged walking robot with landing / shock absorbing means to protect its knees
    14.
    发明公开
    Legged walking robot with landing / shock absorbing means to protect its knees 有权
    用于保护他的膝盖足步行机器人和冲击吸收设备

    公开(公告)号：EP1081026A3

    公开(公告)日：2001-11-07

    申请号：EP00307458.0

    申请日：2000-08-30

    申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

    发明人： Takenaka, Toru ,  Kawai, Takayuki ,  Gomi, Hiroshi ,  Hasegawa, Tadaaki ,  Matsumoto, Takashi

    IPC分类号： B62D57/032 ,  B25J19/00

    CPC分类号： B62D57/032 ,  B25J19/0091

    摘要： In a legged walking robot (1) having a body (3) and two articulated legs (2) each connected to the body through a hip joint (10, 12) and having a knee joint (16) and an ankle joint (18, 20), connected by a shank link (26), a knee pad (90) is mounted on the shank link as a landing/shock absorbing means at a position (Xpad1) adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity (XG1) of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.

    摘要翻译： 在一个足步行机器人（1）具有主体（3）和两个铰接腿（2）各通过髋关节（10，12）和具有膝关节（16）和（踝关节18连接到所述主体， （20）由小腿连杆（26），膝垫（90），其连接安装在小腿连接件作为登陆/减震装置在邻近于膝关节的位置Xpad1）上的所有其被带入与地面接触 当进入与检查的地板膝第一接触并膝关节是在向前重力的机器人的机器人前进的方向上的中心（XG1）的位置被定位，同时吸收冲击从与所述接触发生的 地板。 这样，机器人可以很容易地从与地面接触的膝关节地区的态度站了起来。 更结束了，当进入与地面膝第一次接触，它可以吸收接触的冲击，以保护膝关节区，从损坏的地板。

    Gait generation system of legged mobile robot
    15.
    发明公开
    Gait generation system of legged mobile robot 失效
    系统zur Steuerung des Ganges eines mit Beinen beweglichen Roboters

    公开(公告)号：EP0856457A2

    公开(公告)日：1998-08-05

    申请号：EP98300739.4

    申请日：1998-02-02

    申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

    发明人： Takenaka, Toru

    IPC分类号： B62D57/02

    CPC分类号： B62D57/02

    摘要： A gait generation system of a biped mobile robot (1) having a body (24) and two articulated legs (2) each having a foot at its distal end connected by an ankle joint (10,12,14R,L). The system has two or three models approximating a deviation of displacement (position) and velocity of the body and the ZMP (zero moment point) indicative of the floor reaction force acting on the robot. In the system, two gaits for a robot walking step are generated. If there is a discontinuity of the body position or velocity or the ZMP in the gait boundary, the models are manipulated to cancel the discontinuity. The output of the models are calculated from the input, and based on the input and output, the gaits are corrected. The models are designed to stop at every two walking steps so as to avoid calculation errors from being accumulated.

    摘要翻译： 具有本体（24）和两个铰接腿（2）的两足动物机器人（1）的步态生成系统，每个腿部在其远端具有通过踝关节（10,12,14R，L）连接的脚。 该系统具有两个或三个模型，其接近于表示作用在机器人上的地面反作用力的身体的位移（位置）和速度以及ZMP（零力矩点）的偏差。 在系统中，生成用于机器人步行步骤的两个步态。 如果在步态边界中存在身体位置或速度或ZMP的不连续性，则操纵模型以消除不连续性。 模型的输出根据输入计算，根据输入和输出，步态进行校正。 模型设计为每两步步骤停止，以避免计算误差累积。

    System for estimating attitude of leg type moving robot itself
    18.
    发明授权
    System for estimating attitude of leg type moving robot itself 有权
    Selbstpositionsabschätzvorrichtung对于具有腿移动机器人

    公开(公告)号：EP2110210B1

    公开(公告)日：2011-03-23

    申请号：EP09009477.2

    申请日：2003-04-28

    申请人： Honda Giken Kogyo Kabushiki Kaisha

    发明人： Takenaka, Toru ,  Matsumoto, Takashi

    IPC分类号： B25J5/00 ,  B25J13/00

    CPC分类号： B62D57/032 ,  B25J13/088 ,  B62D57/02 ,  G01C21/16

    摘要： Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.

    Control device of legged mobile robot
    20.
    发明公开
    Control device of legged mobile robot 有权
    Steuervorrichtungfürmobilen Roboter mit Beinen

    公开(公告)号：EP2208581A1

    公开(公告)日：2010-07-21

    申请号：EP10003332.3

    申请日：2003-04-28

    申请人： Honda Giken Kogyo Kabushiki Kaisha

    发明人： Takenaka, Toru ,  Matsumoto, Takashi ,  Yoshiike, Takahide ,  Akimoto, Kazushi

    IPC分类号： B25J5/00

    CPC分类号： B62D57/032

    摘要： A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.

    摘要翻译： 腿式移动机器人的控制装置，其中状态量误差（例如，主体3的垂直位置的误差）是与实际状态量和与之相关的期望步态的状态量之间的差 确定有腿可移动机器人1的预定方向（例如，垂直方向的平移运动）的平移运动，然后确定期望步态的期望运动，使得状态量误差接近零。 使用动态模型通过将基于状态量误差确定的虚拟外力输入到用于产生期望的步态的动态模型来确定期望的运动。 同时，基于零的状态量误差来校正机器人1的期望的地板反作用力，并且执行顺从性控制以使机器人1的运动和地板反作用力遵循所需的运动 以及期望的步态的期望的地板反作用力。